function obj = gauss2DRigidObjective(params, mu1, sigma1, mu2, sigma2)

% compute negative (goal is to minimise L2) closed form L2 measure between
% two Gaussian

dim = length(mu1);
theta = params(3);
trans = params(1:2);
rot = [cos(theta) -sin(theta);
       sin(theta)  cos(theta)];

mu = [rot*mu1']' + trans - mu2;
sigma = rot*sigma1*rot' + sigma2;

obj = gauss(mu, sigma, zeros(size(mu)));
